/*
// Copyright (c) 2016 Intel Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
*/

#pragma once

#include <memory>
#include <vector>

#include "detection/Detectors.hh"
#include "sensors/Sensors.hh"

class DepthImagePolarHistDetector : public Detector
{
public:
    DepthImagePolarHistDetector(double angle_step,
            double threshold = 5.0, double density = 0.1);
    const std::vector<Obstacle> &detect(std::shared_ptr<void> data) override;

private:
    double step;
    double threshold;
    double density;
    std::vector<Obstacle> obstacles;
};
